In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and ...

This paper addresses the problem of trajectory tracking for underactuated quadrotors. A quaternion based guidance law is proposed which feeds into an attitude control system based on a PD+ control law. The desired attitude from the guidance law is defined such that the attitude control system tries to align the position error along the axis of the translational actuator. Simulation results are ...

This paper presents a complete solution to the problem of attitude determination and control for satellites in elliptical orbits. Specifically, it shows how to create the orbital mechanics, account for perturbing gravity torques, create a nonlinear PD+ attitude controller, map the control signal to desired thrust firings, implement magnetic field and Sun vector models, and how to implement a Madgwick ...

This paper proposes a thyristor based short circuit current injector for providing short circuit current in isolated and weak grids, where sufficient fault current to trigger circuit breakers may not be available. This will allow the use of conventional miniature circuit breakers, which requires high fault current for instantaneous tripping. The method has been validated through experiments.

In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while ...